Abstract
In the design of output tracking controllers, the relative degree and the stability of the zero dynamics of the control plant are usually assumed to be known in advance, and are determined by analyzing the system dynamic equations. This paper shows how relative degrees and zero dynamics are related to the physical structures with the help of bond graphs. A set of rules are proposed to determine the relative degree and the stability of the zero dynamics for a class of systems independent of the system dynamic equations. The rules establish a connection between these system properties and the physical structures, and are useful guidelines on the adjustment of relative degrees and zero dynamics for the purpose of control design.
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